CN108321939B - Dynamic wireless power transmission system and prediction control method thereof - Google Patents

Dynamic wireless power transmission system and prediction control method thereof Download PDF

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CN108321939B
CN108321939B CN201810203046.1A CN201810203046A CN108321939B CN 108321939 B CN108321939 B CN 108321939B CN 201810203046 A CN201810203046 A CN 201810203046A CN 108321939 B CN108321939 B CN 108321939B
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CN108321939A (en
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张立炎
周泽
陈启宏
全书海
谢长君
石英
黄亮
邓坚
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Wuhan University of Technology WUT
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • B60L53/39—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer with position-responsive activation of primary coils
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention relates to a dynamic wireless power transmission system and a prediction control method thereof, wherein the dynamic wireless power transmission system comprises a primary side and a secondary side, the primary side and the secondary side are respectively composed of a plurality of sectional energy emitting devices, and energy emitting equipment of each set of emitting device comprises an inverter, a primary compensation network and an emitting coil; the secondary side comprises a set of energy receiving equipment, wherein the energy receiving equipment comprises an energy receiving coil, a secondary compensation network, a rectifying circuit, a DC/DC circuit and a controller; the rectifier circuit converts the high-frequency alternating current transmitted by the energy transmitting device into direct current, the controller is used for controlling the DC/DC circuit so as to control the system power to improve the system efficiency, and finally the energy is transmitted to the load. Compared with the traditional PID control, the predictive control method can improve the following performance and the rapidity of the system, reduce the overshoot and increase the stability of the system.

Description

Dynamic wireless power transmission system and prediction control method thereof
Technical Field
The invention relates to a dynamic wireless power transmission system, in particular to a dynamic wireless power transmission system and a prediction control method thereof.
Background
The electric automobile industry has come to a resurgence due to environmental pollution problems and petroleum resource problems. Compared with fuel vehicles, electric vehicles have the advantages of zero emission, noise pollution reduction, few vehicle parts, high reliability and the like, and the types of the electric vehicles are mainly classified into pure electric vehicles, fuel cells and hybrid power vehicles. Due to the rapid application of electric automobiles in the fields of private cars, public transportation and the like, the related battery charging technology becomes an important basic support system of the electric automobiles and is also an important link in the industrialization and commercialization processes of the electric automobiles.
Under such a background, the technology of charging batteries of electric vehicles has been developed very rapidly. At present, the battery charging mode of the electric automobile is mainly a contact charging mode, so that the convenience of the charging mode is poor, and certain potential safety hazards exist. Compared with the traditional charging method, the wireless charging mode can solve the problems of interface limitation, safety and the like of the traditional conduction charging mode, and the technology can be gradually developed into the main charging mode of the electric automobile. According to the driving state of the electric automobile, the wireless charging technology mainly comprises two modes of static wireless charging and dynamic wireless charging. Static wireless charging requires that the electric automobile is in a static state, and has fixed charging places and time limitations. In order to further solve the problems of battery capacity, endurance mileage and the like of the electric automobile, a dynamic wireless charging technology is developed.
The traditional PID is difficult to control quickly and has slow following performance, so that in order to overcome the defects, predictive control is adopted, the following performance and the rapidity of the system can be improved, and the stability of the system is improved.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned shortcomings of the prior art and to provide a dynamic wireless power transmission system and a predictive control method thereof, which can improve the rapidity, stability and followability of the system.
The technical scheme adopted for realizing the aim of the invention is as follows: a dynamic wireless power transmission system comprises a primary side and a secondary side, wherein the primary side and the secondary side are formed by a plurality of sectional energy emitting devices, and energy emitting equipment of each set of emitting device comprises an inverter, a primary compensation network and an emitting coil; the secondary side comprises a set of energy receiving equipment, wherein the energy receiving equipment comprises an energy receiving coil, a secondary compensation network, a rectifying circuit, a DC/DC circuit and a controller; the rectifier circuit converts the high-frequency alternating current transmitted by the energy transmitting device into direct current, the controller is used for controlling the DC/DC circuit so as to control the system power to improve the system efficiency, and finally the energy is transmitted to the load.
Further, the DC/DC circuit consists of a BUCK circuit for regulating the power contribution and ensuring maximum power transfer during vehicle operation.
Further, the controller is composed of a sampling module, a prediction controller and an IGBT driving module with protection.
Further, the DC/DC circuit comprises an input current source, an input filter capacitor, an IGBT (insulated gate bipolar transistor) of the DC/DC converter, a diode, an inductor, a capacitor and a load.
In addition, the present invention further provides a predictive control method of the above dynamic wireless power transmission system, the method comprising:
detecting the arrival of the current electric automobile according to detection coils laid on a road, taking the moment as zero moment, sending time information to the electric automobile through the internet of vehicles, and judging the position of the automobile relative to an energy transmitting end coil according to the speed and the time interval so as to determine the size of a coupling factor which influences the input current i of a DC/DC circuitinTo derive the input current iinMagnitude of will input a current iinDividing the current into three intervals, respectively taking the average value in the three intervals, and judging the input current i when the sampling time arrivesinAnd (3) establishing a piecewise prediction equation for the system, constructing a cost function with constraint conditions, calculating the optimal duty ratio, acting on the system to complete one-step prediction control, and repeating the steps when sampling at the next moment.
Drawings
Fig. 1 is a topology structural diagram of a dynamic wireless power transmission system of the present invention.
Fig. 2 is a secondary side DC/DC converter topology of the dynamic wireless power transmission system of fig. 1.
Fig. 3 is a flowchart of predictive control of the dynamic wireless power transfer system of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1, the primary side of the dynamic wireless power transmission system is composed of several segmented energy emitting devices. The energy transmitting equipment of a set of transmitting end consists of an inverter, a primary compensation network and a transmitting coil. An energy receiving device is composed of an energy receiving coil, a secondary compensation network, a rectification circuit, a DC/DC circuit and a controller. The rectification circuit converts high-frequency alternating current transmitted by the resonance circuit into direct current, the control module is used for controlling the DC/DC circuit so as to control system power to improve system efficiency, and finally energy is transmitted to a load.
As shown in fig. 2, mathematical modeling is performed on the DC/DC circuit on the secondary side, and a filter capacitor on the previous stage is considered, and mathematical models are respectively established in the time periods when the switching tube is turned on and off. Selecting
Figure BDA0001595001700000031
Is a state variable of the system. When the switch tube is turned on, the state equation is shown as formula (1):
Figure BDA0001595001700000032
when the switching tube is turned off, the state equation is shown in formula (2):
Figure BDA0001595001700000033
the discrete state equation is:
Figure BDA0001595001700000034
and d is the duty ratio of the IGBT. Introducing the duty cycle into the state equation, an average state equation can be obtained:
Figure BDA0001595001700000035
the DC/DC mathematical model has the characteristics of a nonlinear quantity x (k) d, and is linearized to generate a linear piecewise affine system:
x(k+1)＝Aix(k)+Bid+Fi,di≤d≤di+1,i＝1…n (5)
the process of linearization is as follows:
dividing the duty ratio d into i +1 areas from 0-1, and performing approximation treatment according to a formula (6):
Figure BDA0001595001700000041
substituting equation (6) into piecewise affine system equation (5) yields equation (7):
Figure BDA0001595001700000042
then, the formula (7) is substituted into the piecewise affine system formula (5), so as to obtain the formula (8):
Figure BDA0001595001700000043
d of the boundary of duty cycle interval under stable working stateiIs discontinuous, which causes oscillations. To solve this problem, reserve AiWhile applying continuous constraints to the average model.
Calculating the average model at duty ratio diAnd di+1Steady state operating point of time (I)3As a three-dimensional identity matrix):
Figure BDA0001595001700000044
then the duty ratio d is obtained by the equation (5) of the piecewise affine systemiAnd di+1The state of time:
Figure BDA0001595001700000045
simultaneous (9) and (10):
Figure BDA0001595001700000046
it can be deduced that:
Figure BDA0001595001700000047
wherein
Figure BDA0001595001700000048
Determine Ai，BiAnd FiAfter that, equation (13) can be obtained.
x(k+1)＝Ax(k)+Bd(k)+F
yc(k)＝Ccx(k) (13)
yb(k)＝Cbx(k)
In the above formula, x (k) is a state quantity; d (k) is a control input amount; y isc(k) Is the controlled output quantity; y isb(k) Is the constrained output; a, B, F, CcAnd CbIs the corresponding coefficient matrix. i.e. iLIs the controlled output quantity of the system, uC1Is a constrained output for the system. And i isinWill influence CcAnd CbThe size of (2).
The current arrival of the electric automobile can be detected according to the detection coils laid on the road, the moment is taken as zero moment, time information is sent to the electric automobile through the Internet of vehicles, the communication delay is added to the time when the automobile passes through the coils due to the communication delay, the automobile speed is considered to be constant within a period of time, the position of the automobile relative to the energy transmitting end coils can be judged according to the automobile speed and the time interval, and the change trend of the coupling factor can be deduced. The coupling factor influences the input current i of the DC/DC converterin. So that i can be knowninAnd (4) performing segmented predictive control.
The predictive control flow is shown in FIG. 3 according to the lineThe coefficient matrix of a model initialization system of the sexual processing is detected through a detection coil, a zero time point when a vehicle comes to just face the coil is detected, the vehicle speed is considered to be kept unchanged within a period of time, so that the offset position of a receiving coil relative to a transmitting coil is determined through time and speed, a coupling factor is determined, and then the input current is deducediin. Input current to the converteriinDividing into three intervals, respectively averaging in the three intervals, and judging input current when sampling time comesiinAnd (3) establishing a piecewise prediction equation for the system, constructing a cost function with constraint conditions, calculating the optimal duty ratio, acting on the system to complete one-step prediction control, and repeating the steps when sampling at the next moment.

Claims (1)

1. A prediction control method of a dynamic wireless power transmission system is characterized in that: detecting the arrival of the current electric automobile according to detection coils laid on a road, taking the moment as zero moment, sending time information to the electric automobile through the internet of vehicles, and judging the position of the automobile relative to an energy transmitting end coil according to the speed and the time interval so as to determine the size of a coupling factor which influences the input current i of a DC/DC circuitinTo derive the input current iinMagnitude of will input a current iinDividing the current into three intervals, respectively taking the average value in the three intervals, and judging the input current i when the sampling time arrivesinBuilding a piecewise prediction equation for the data, constructing a cost function with constraint conditions, calculating an optimal duty ratio, acting on the system to complete one-step prediction control, and repeating the steps when sampling at the next moment;
the constructing a constrained cost function includes:
performing mathematical modeling on a DC/DC circuit on a secondary side, considering a filter capacitor on a front stage, and respectively establishing mathematical models in the time periods of switching on and switching off of a switching tube;
selecting
Figure FDA0003533721700000011
For the state variables of the system, C1 is the input filter capacitance, C2 is the capacitance of the DC/DC circuit, R is the resistance of the DC/DC circuit, L is the inductance of the DC/DC circuit, iin、uC1、iLAnd uC2Respectively representing the input current, the voltage on the input filter capacitor, the inductive current and the capacitor voltage of the DC/DC circuit;
when the switch tube is turned on, the state equation is shown as formula (1):
Figure FDA0003533721700000012
when the switching tube is turned off, the state equation is shown in formula (2):
Figure FDA0003533721700000021
the discrete state equation is:
Figure FDA0003533721700000022
d is the duty ratio of the IGBT, and the duty ratio is introduced into a state equation to obtain an average state equation:
Figure FDA0003533721700000023
the DC/DC mathematical model has the characteristics of a nonlinear quantity x (k) d, and is linearized to generate a linear piecewise affine system:
x(k+1)＝Aix(k)+Bid+Fi,di≤d≤di+1,i＝1…n (5)
the process of linearization is as follows:
dividing the duty ratio d into i +1 areas from 0-1, and performing approximation treatment according to a formula (6):
Figure FDA0003533721700000024
substituting equation (6) into piecewise affine system equation (5) yields equation (7):
Figure FDA0003533721700000025
and substituting the formula (7) into a piecewise affine system formula (5) to obtain a formula (8):
Figure FDA0003533721700000026
calculating the average model at duty ratio diAnd di+1Steady state operating point of time, I3Is a three-dimensional unit matrix:
Figure FDA0003533721700000027
then the duty ratio d is obtained by the equation (5) of the piecewise affine systemiAnd di+1The state of time:
Figure FDA0003533721700000031
simultaneous (9) and (10):
Figure FDA0003533721700000032
deducing:
Figure FDA0003533721700000033
wherein the content of the first and second substances,
Figure FDA0003533721700000034
determine Ai，BiAnd FiThen, equation (13) is obtained:
Figure FDA0003533721700000035
in the above formula, x (k) is a state quantity; d (k) is a control input amount; y isc(k) Is the controlled output quantity; y isb(k) Is the constrained output; a, B, F, CcAnd CbIs a corresponding coefficient matrix, iLIs the controlled output quantity of the system, uC1For a constrained output of the system, iLAnd uC1Representing the inductor current of the DC/DC circuit and the voltage across the input filter capacitor.
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CN115723594A (en) * 2021-08-31 2023-03-03 华为数字能源技术有限公司 Transmitting terminal, receiving terminal, dynamic wireless power supply system and electric automobile
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